Localization in ambiguous environments using multiple weak cues

Janne Laaksonen; Ville Kyrki

doi:10.1007/s11370-008-0023-6

Localization in ambiguous environments using multiple weak cues

Janne Laaksonen^*, Ville Kyrki

^*Corresponding author for this work

Not published at Aalto University

LUT University

Research output: Contribution to journal › Article › Scientific › peer-review

6 Citations (Scopus)

Abstract

This paper presents a probabilistic approach for sensor-based localization with weak sensor data. Wireless received signal strength measurements are used to disambiguate sonar measurements in symmetric environments. Particle filters are used to model the multi-hypothesis estimation problem. Experiments indicate that multiple weak cues can provide robust position estimates and that multiple sensors also aid in solving the kidnapped robot problem.

Original language	English
Pages (from-to)	281-288
Number of pages	8
Journal	Intelligent Service Robotics
Volume	1
Issue number	4
DOIs	https://doi.org/10.1007/s11370-008-0023-6
Publication status	Published - Oct 2008
MoE publication type	A1 Journal article-refereed

Keywords

Mobile robot localization
Particle filters
Sonar localization
Wireless received signal strength

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10.1007/s11370-008-0023-6

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title = "Localization in ambiguous environments using multiple weak cues",

abstract = "This paper presents a probabilistic approach for sensor-based localization with weak sensor data. Wireless received signal strength measurements are used to disambiguate sonar measurements in symmetric environments. Particle filters are used to model the multi-hypothesis estimation problem. Experiments indicate that multiple weak cues can provide robust position estimates and that multiple sensors also aid in solving the kidnapped robot problem.",

keywords = "Mobile robot localization, Particle filters, Sonar localization, Wireless received signal strength",

author = "Janne Laaksonen and Ville Kyrki",

year = "2008",

month = oct,

doi = "10.1007/s11370-008-0023-6",

language = "English",

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T1 - Localization in ambiguous environments using multiple weak cues

AU - Laaksonen, Janne

AU - Kyrki, Ville

PY - 2008/10

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N2 - This paper presents a probabilistic approach for sensor-based localization with weak sensor data. Wireless received signal strength measurements are used to disambiguate sonar measurements in symmetric environments. Particle filters are used to model the multi-hypothesis estimation problem. Experiments indicate that multiple weak cues can provide robust position estimates and that multiple sensors also aid in solving the kidnapped robot problem.

AB - This paper presents a probabilistic approach for sensor-based localization with weak sensor data. Wireless received signal strength measurements are used to disambiguate sonar measurements in symmetric environments. Particle filters are used to model the multi-hypothesis estimation problem. Experiments indicate that multiple weak cues can provide robust position estimates and that multiple sensors also aid in solving the kidnapped robot problem.

KW - Mobile robot localization

KW - Particle filters

KW - Sonar localization

KW - Wireless received signal strength

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U2 - 10.1007/s11370-008-0023-6

DO - 10.1007/s11370-008-0023-6

M3 - Article

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SN - 1861-2776

VL - 1

SP - 281

EP - 288

JO - Intelligent Service Robotics

JF - Intelligent Service Robotics

IS - 4

ER -

Localization in ambiguous environments using multiple weak cues

Abstract

Keywords

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